CN110956062A - Trajectory route generation method, apparatus, and computer-readable storage medium - Google Patents
Trajectory route generation method, apparatus, and computer-readable storage medium Download PDFInfo
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- CN110956062A CN110956062A CN201811133155.7A CN201811133155A CN110956062A CN 110956062 A CN110956062 A CN 110956062A CN 201811133155 A CN201811133155 A CN 201811133155A CN 110956062 A CN110956062 A CN 110956062A
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Abstract
The invention discloses a track route generation method, track route generation equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring face image information of a target monitoring object; determining target monitoring images matched with the face image information from a monitoring image library, and acquiring a target time point of each target monitoring image and a target geographical position of target monitoring equipment for acquiring each target monitoring image; obtaining the actual geographic position of a target monitoring object at a corresponding target time point when the target monitoring image is acquired according to the image parameters in each target monitoring image and the target geographic position of the target monitoring equipment for acquiring the target monitoring image; and generating a track route of the target monitoring object according to the actual geographic positions corresponding to all the target time points. The scheme of the invention can obtain the refined track route of the target monitoring object and ensure the accuracy of judging the action track of the monitoring object.
Description
Technical Field
The invention relates to the technical field of security and protection, in particular to a track route generation method and device and a computer readable storage medium.
Background
At present, the face recognition technology is widely applied to the field of security protection, and social security is greatly improved. If the face recognition technology is used for discovering special crowds such as criminal suspects and evasion personnel hidden in the stream of people, case solving clues are combed, and the case solving capability of the security department is improved. As such, the face recognition technology is receiving increasing attention from the security industry. Currently, the basic trajectory characteristics of a monitored object can be described by matching face recognition with the geographic location and time information of a monitoring camera located at a video monitoring point. However, the track is mainly represented by a straight track among a plurality of video monitoring points, and it is difficult to describe a fine route of the monitored object among the video monitoring points, so that the fine route of the monitored object cannot be obtained, and the accuracy of judging the action track of the monitored object is affected.
Disclosure of Invention
The invention mainly aims to provide a track route generation method, track route generation equipment and a computer readable storage medium, so as to solve the problem that a refined track route of a monitored object cannot be obtained and the accuracy of judging the action track of the monitored object is influenced.
In order to achieve the above object, the present invention provides a trajectory route generating method, including:
acquiring face image information of a target monitoring object;
determining target monitoring images matched with the face image information from a monitoring image library, and acquiring a target time point of each target monitoring image and a target geographical position of target monitoring equipment for acquiring each target monitoring image;
obtaining the actual geographic position of a target monitoring object at a corresponding target time point when the target monitoring image is acquired according to the image parameters in each target monitoring image and the target geographic position of the target monitoring equipment for acquiring the target monitoring image;
and generating a track route of the target monitoring object according to the actual geographic positions corresponding to all the target time points.
The invention also provides a trajectory route generation device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the trajectory route generation method when executing the computer program.
The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the trajectory route generation method described above.
The scheme of the invention at least comprises the following beneficial effects:
in the embodiment of the invention, the target monitoring image matched with the acquired face image information, the target time point at which each target monitoring image is acquired and the target geographical position of the target monitoring equipment acquiring each target monitoring image are determined from the monitoring image library, the actual geographical position of the target monitoring object at the corresponding target time point when the target monitoring image is acquired is obtained according to the image parameters in each target monitoring image and the target geographical position of the target monitoring equipment acquiring the target monitoring image, and finally the track route of the target monitoring object is generated according to the actual geographical positions corresponding to all the target time points, wherein the target geographical position of the target monitoring equipment acquiring the target monitoring image is not directly used as the actual geographical position of the target monitoring object at the corresponding target time point when the target monitoring image is acquired, but according to the image parameters in the target monitoring image and the target geographic position of the target monitoring equipment for acquiring the target monitoring image, the actual geographic position of the target monitoring object at the corresponding target time point when the target monitoring image is acquired is obtained, so that the generated track route is a refined track route of the target monitoring object, and the accuracy of judging the action track of the monitoring object can be ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a flowchart of a track route generation method according to an embodiment of the present invention;
FIG. 2 is a sub-flow chart of step 14 of FIG. 1 in an embodiment of the present invention;
FIG. 3 is a sub-flow chart of the steps for determining a route of travel between a first actual geographic location and a second actual geographic location in accordance with an embodiment of the present invention;
FIG. 4 is a sub-flow chart of the steps for determining a route of travel between a first actual geographic location and a second actual geographic location in another embodiment of the present invention;
FIG. 5 is a schematic diagram of a trajectory path of a target monitoring object in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a trajectory route generating device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a specific embodiment of the present invention provides a trajectory route generating method, including:
and step 11, acquiring the face image information of the target monitoring object.
In a specific embodiment of the present invention, the face image information may be a face image of a target monitoring object. It should be noted that, in order to improve the speed and accuracy of subsequently determining the target monitoring image from the monitoring image library, the facial image information may also be a feature value of a facial image of the target monitoring object. Specifically, the target monitoring object may be a monitored person such as a criminal suspect and an evasive person.
In an embodiment of the present invention, the face image information may be obtained from an electronic portrait file having identifiable facial features, such as an identity card of a target monitoring object, a passport card, and the like, so as to ensure accuracy and definition of the face image information, and ensure accuracy of subsequently determining a target monitoring image.
And step 12, determining target monitoring images matched with the face image information from the monitoring image library, and acquiring the target time point of each target monitoring image and the target geographical position of the target monitoring equipment for acquiring each target monitoring image.
The monitoring image database stores monitoring image data corresponding to each monitoring object according to different monitoring objects, wherein the monitoring image data comprise monitoring images which are acquired by monitoring equipment in a monitored area of the corresponding monitoring object and comprise face images of the monitoring object, time points at which the monitoring images are acquired and geographic positions of the monitoring equipment which acquires the monitoring images. Specifically, the monitoring image in the monitoring image library may specifically be a short video, a picture, or the like, and if the monitoring image is a short video, the time point at which the monitoring image is acquired is the start time point of the short video. And the monitoring area can be any set area, such as a cell, a square, a business district and the like, and the monitoring equipment can be a camera, a snapshot machine and other equipment arranged in the monitoring area.
In the specific embodiment of the present invention, when the target monitoring image matched with the face image information is determined from the monitoring image library, the similarity between the face image in the monitoring image library and the face image information of the target monitoring object is specifically compared, and the monitoring image corresponding to the face image of which the similarity with the face image information of the target monitoring object exceeds the preset similarity threshold is used as the target monitoring image matched with the face image information.
And step 13, obtaining the actual geographic position of the target time point corresponding to the target monitoring object when the target monitoring image is acquired according to the image parameters in each target monitoring image and the target geographic position of the target monitoring equipment acquiring the target monitoring image.
In an embodiment of the present invention, the image parameter in the target monitoring image may be a pixel distance of the target monitoring image. Correspondingly, in a specific embodiment of the present invention, the actual geographic position of the target monitoring object at the target time point corresponding to the target monitoring image is obtained by calculation specifically according to the pixel distance of the target monitoring image, and the target geographic position and the focal length of the target monitoring device that collects the target monitoring image. The actual geographical position may of course be calculated in particular by means of conventional image processing techniques.
And 14, generating a track route of the target monitoring object according to the actual geographic positions corresponding to all the target time points.
It should be noted that, in the specific embodiment of the present invention, after the target geographic position of the target monitoring image of the collected target monitoring image is obtained, the target geographic position of the target monitoring device of the collected target monitoring image is not directly used as the actual geographic position of the target time point corresponding to the collected target monitoring image of the target monitoring object, but the actual geographic position of the target monitoring object at the target time point corresponding to the collected target monitoring image is obtained according to the image parameter in the target monitoring image and the target geographic position of the target monitoring device of the collected target monitoring image, so that the generated track route is a refined track route of the target monitoring object, and the accuracy of determining the action track of the monitoring object can be further ensured.
A specific implementation manner of generating a track route of a target monitoring object according to actual geographic positions corresponding to all target time points in the embodiment of the present application is described below with reference to related drawings.
As shown in fig. 2, in the specific embodiment of the present invention, the step 14, according to the actual geographic positions corresponding to all the target time points, a specific implementation manner of generating the track route of the target monitoring object includes the following steps:
and step 21, sequencing all the obtained actual geographic positions according to the sequence of all the target time points, and taking all the sequenced actual geographic positions as a position set.
That is, in the embodiment of the present invention, the actual geographic locations in the location set are arranged according to the sequence of the target time points, and may also be understood as being arranged according to the action route of the target monitoring object.
And step 23, sequentially connecting all determined traveling routes according to the sequence of all actual geographic positions in the position set to obtain the track route of the target monitoring object.
That is, in the specific embodiment of the present invention, the trajectory route of the target monitoring object is obtained by determining the travel route between each two adjacent actual geographic locations, and then sequentially connecting all the travel routes according to the sequence of the actual geographic locations.
In the embodiment of the present invention, for step 22, the travel route between every two adjacent actual geographic locations in the location set may be determined by sequentially determining the travel routes between any two adjacent actual geographic locations in the location set.
Specifically, the specific implementation manner of the step 22 may be that, for any adjacent first actual geographic location and second actual geographic location in the location set, the following steps are respectively performed:
step one, electronic map software containing geographic information is called, a first route value and a route deviation threshold value of a shortest effective route between a first actual geographic position and a second actual geographic position are determined, and one or more first effective routes from the first actual geographic position to the second actual geographic position are obtained. Wherein the second trip value of the first active route is less than the sum of the first trip value and the trip offset threshold.
Specifically, the electronic map software may be Geographic Information System (GIS) map software, so that when the electronic map software is called to determine the first route value, the route offset threshold value, and the first effective route, it is ensured that the determined results are all real and effective, so that a refined track route of the target monitoring object can be obtained based on the data.
And step two, determining a travel route between the first actual geographic position and the second actual geographic position according to the number of the first effective routes.
Specifically, when the number of the first effective routes is one, the first effective routes are directly taken as the travel routes between the first actual geographic location and the second actual geographic location.
When the number of the first valid routes is multiple, as shown in fig. 3, a specific implementation manner of determining the travel route between the first actual geographic location and the second actual geographic location includes the following steps:
In an embodiment of the present invention, the first preset length value may be set according to a specific geographic situation, for example, set to 30 meters.
And step 32, tracking the target monitoring object appearing in the target monitoring image corresponding to the target time point corresponding to the first actual geographic position to obtain a first linear trajectory equation of the target monitoring object.
In a specific embodiment of the present invention, a target monitoring object appearing in a target monitoring image may be tracked specifically through algorithms such as kalman filtering, so as to obtain a first linear trajectory equation of the target monitoring object.
And step 33, respectively aiming at each first effective route, determining a first intersection point of the first effective route and the first circle, determining a first vector from the first actual geographic position to the first intersection point, and calculating a first included angle between the first linear trajectory equation and the first vector.
And step 34, respectively carrying out normalization processing on each first included angle in all the calculated first included angles to obtain normalized first included angles.
In an embodiment of the present invention, the normalization process is performed on all the first included angles to normalize the angles of all the first included angles to the range of [0, pi ], so as to compare the sizes of the first included angles in the following.
And step 35, taking a first intersection point corresponding to the first included angle with the smallest angle in all the first included angles after normalization processing as a first target intersection point.
Specifically, the electronic map software may be GIS map software, so that when the electronic map software is called to determine the second effective route, it is ensured that the determined result is real and effective, and a refined track route of the target monitoring object can be obtained based on the data.
A travel route between the first actual geographic location and the second actual geographic location is determined based on the number of second valid routes, step 37.
Specifically, when the number of the second effective routes is one, a specific implementation manner of determining the travel route between the first actual geographic location and the second actual geographic location is as follows: firstly, calling electronic map software, and calculating a first shortest effective route from a first actual geographic position to a first target intersection point and a second shortest effective route from the first target intersection point to a second actual geographic position; and then sequentially connecting the first shortest effective route and the second shortest effective route according to the sequence from the first actual geographic position to the second actual geographic position through the first target intersection point to obtain a traveling route between the first actual geographic position and the second actual geographic position.
The first shortest effective route refers to an effective route calculated by using electronic map software and having the shortest distance from a first actual geographic position to a first target intersection point, and the second shortest effective route refers to an effective route calculated by using electronic map software and having the shortest distance from the first target intersection point to a second actual geographic position. In a specific embodiment of the present invention, the first shortest effective route and the second shortest effective route can be calculated by GIS map software, so as to ensure that the first shortest effective route and the second shortest effective route are both real and effective, and a refined track route of the target monitoring object can be obtained based on the data.
When the number of the second effective routes is multiple, as shown in fig. 4, a specific implementation manner of determining the travel route between the first actual geographic location and the second actual geographic location includes the following steps:
and step 41, determining a second circle with the second actual geographic position as the center of the circle and the second preset length value as the radius.
In an embodiment of the present invention, the second preset length value may be set according to a specific geographic situation, for example, set to 30 meters.
And 42, tracking the target monitoring object appearing in the target monitoring image corresponding to the target time point corresponding to the second actual geographic position to obtain a second linear trajectory equation of the target monitoring object.
In a specific embodiment of the present invention, a target monitoring object appearing in the target monitoring image may be tracked specifically through algorithms such as kalman filtering, so as to obtain a second linear trajectory equation of the target monitoring object.
And 43, respectively aiming at each second effective route, determining a second intersection point of the second effective route and the second circle, determining a second vector from the second intersection point to the second actual geographic position, and calculating a second included angle between the second linear trajectory equation and the second vector.
And 44, respectively carrying out normalization processing on each second included angle in all the calculated second included angles to obtain normalized second included angles.
In an embodiment of the present invention, the normalization process is performed on all the second included angles to normalize the angles of all the second included angles to the range of [0, pi ], so as to compare the sizes of the second included angles in the following.
And step 45, taking a second intersection point corresponding to the second included angle with the largest angle in all the second included angles after normalization processing as a second target intersection point.
And step 46, calling electronic map software, and calculating a third shortest effective route from the first actual geographic position to the first target intersection point, a fourth shortest effective route from the first target intersection point to the second target intersection point, and a fifth shortest effective route from the second target intersection point to the second actual geographic position.
The third shortest effective route refers to an effective route calculated by using electronic map software and having the shortest distance from the first actual geographic position to the first target intersection point, the fourth shortest effective route refers to an effective route calculated by using electronic map software and having the shortest distance from the first target intersection point to the second target intersection point, and the fifth shortest effective route refers to an effective route calculated by using electronic map software and having the shortest distance from the second target intersection point to the second actual geographic position. In a specific embodiment of the present invention, the third shortest effective route, the fourth shortest effective route, and the fifth shortest effective route may be calculated by GIS map software, so as to ensure that the third shortest effective route, the fourth shortest effective route, and the fifth shortest effective route are all real and effective, and a refined track route of the target monitoring object may be obtained based on these data.
And step 47, sequentially connecting a third shortest effective route, a fourth shortest effective route and a fifth shortest effective route from the first actual geographic position to the second actual geographic position through the first target intersection point and the second target intersection point to obtain a traveling route between the first actual geographic position and the second actual geographic position.
In an embodiment of the present invention, after the track route of the target monitoring object is generated in the foregoing various manners, that is, after the step of generating the track route of the target monitoring object according to the actual geographic positions corresponding to all the target time points in step 14, the method further includes the following steps: firstly, drawing a track route of a target monitoring object on an electronic map; and then displaying the electronic map on which the track route is drawn, so that the user can quickly and clearly know the track route of the target monitoring object.
As shown in fig. 5, in this example, it is assumed that a monitoring area includes 9 buildings (i.e., 9 rectangular frames in fig. 5), 4 monitoring devices with identifiers of ①, ②, ② 0, ② 1 are provided, and each of the 4 monitoring devices has a monitoring image including a face image of a target monitoring object, and at this time, if a trajectory route of the target monitoring object generated by using the conventional method is a dashed line connecting ①, ②, ③, ④ in fig. 5, and a trajectory route of the target monitoring object generated by using the trajectory route generation method provided by the present invention is a solid line connecting ①, ②, ③, ④ in fig. 5.
In addition, as shown in fig. 6, the embodiment of the present invention further provides a trajectory route generating device, where the trajectory route generating device 6 includes a memory 61, a processor 62, and a computer program 63 stored in the memory 61 and executable on the processor 62, and the processor 62 implements the steps of the trajectory route generating method when executing the computer program 63.
Specifically, the processor 62 implements the following steps when executing the computer program 63: acquiring face image information of a target monitoring object; determining target monitoring images matched with the face image information from a monitoring image library, and acquiring a target time point of each target monitoring image and a target geographical position of target monitoring equipment for acquiring each target monitoring image; obtaining the actual geographic position of a target monitoring object at a corresponding target time point when the target monitoring image is acquired according to the image parameters in each target monitoring image and the target geographic position of the target monitoring equipment for acquiring the target monitoring image; and generating a track route of the target monitoring object according to the actual geographic positions corresponding to all the target time points. The monitoring image database stores monitoring image data corresponding to each monitoring object according to different monitoring objects, wherein the monitoring image data comprise monitoring images which are acquired by monitoring equipment in a monitored area of the corresponding monitoring object and comprise face images of the monitoring object, time points of the acquired monitoring images and geographic positions of the monitoring equipment for acquiring the monitoring images.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: sequencing all the obtained actual geographic positions according to the sequence of all the target time points, and taking all the sequenced actual geographic positions as a position set; determining a travel route between every two adjacent actual geographic locations in the location set; and sequentially connecting all determined travelling routes according to the sequence of all actual geographic positions in the position set to obtain the track route of the target monitoring object.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: respectively aiming at any adjacent first actual geographic position and second actual geographic position in the position set, the following steps are executed: calling electronic map software containing geographic information, determining a first route value and a route deviation threshold value of a shortest effective route between a first actual geographic position and a second actual geographic position, and acquiring one or more first effective routes from the first actual geographic position to the second actual geographic position; wherein the second journey value of the first valid route is less than the sum of the first journey value and the journey deviation threshold; a travel route between the first actual geographic location and the second actual geographic location is determined based on the number of first valid routes.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: when the number of the first valid routes is one, the first valid route is taken as a travel route between the first actual geographic location and the second actual geographic location.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: when the number of the first effective routes is multiple, determining a first circle which takes the first actual geographic position as the center of the circle and takes the first preset length value as the radius; tracking a target monitoring object appearing in the target monitoring image corresponding to the target time point corresponding to the first actual geographic position to obtain a first linear trajectory equation of the target monitoring object; respectively determining a first intersection point of each first effective route and a first circle, determining a first vector from a first actual geographic position to the first intersection point, and calculating a first included angle between a first linear trajectory equation and the first vector; respectively carrying out normalization processing on each first included angle in all the first included angles obtained through calculation to obtain normalized first included angles; taking a first intersection point corresponding to the first included angle with the smallest angle in all the first included angles after normalization processing as a first target intersection point; calling electronic map software to calculate one or more second effective routes between the first target intersection and the second actual geographic position; determining a travel route between the first actual geographic location and the second actual geographic location based on the number of second valid routes.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: when the number of the second effective routes is one, calling electronic map software, and calculating a first shortest effective route from the first actual geographic position to the first target intersection point and a second shortest effective route from the first target intersection point to the second actual geographic position; and sequentially connecting the first shortest effective route and the second shortest effective route according to the sequence from the first actual geographic position to the second actual geographic position through the first target intersection point to obtain the traveling route between the first actual geographic position and the second actual geographic position.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: when the number of the second effective routes is multiple, determining a second circle which takes the second actual geographic position as the center of the circle and takes the second preset length value as the radius; tracking a target monitoring object appearing in the target monitoring image corresponding to the target time point corresponding to the second actual geographic position to obtain a second linear trajectory equation of the target monitoring object; respectively determining a second intersection point of each second effective route and a second circle, determining a second vector from the second intersection point to a second actual geographic position, and calculating a second included angle between a second linear trajectory equation and the second vector; respectively carrying out normalization processing on each second included angle in all the second included angles obtained through calculation to obtain normalized second included angles; taking a second intersection point corresponding to the second included angle with the largest angle in all the second included angles after normalization processing as a second target intersection point; calling electronic map software, and calculating a third shortest effective route from the first actual geographic position to the first target intersection point, a fourth shortest effective route from the first target intersection point to the second target intersection point, and a fifth shortest effective route from the second target intersection point to the second actual geographic position; and sequentially connecting a third shortest effective route, a fourth shortest effective route and a fifth shortest effective route from the first actual geographic position to the second actual geographic position through the first target intersection point and the second target intersection point to obtain a traveling route between the first actual geographic position and the second actual geographic position.
Optionally, the processor 62 executes the computer program 63 to further implement the following steps: drawing a track route of a target monitoring object on an electronic map; and displaying the electronic map drawn with the track route.
That is, in the embodiment of the present invention, when the processor 62 of the trajectory route generating device 6 executes the computer program 63, the steps of the trajectory route generating method described above are implemented, a refined trajectory route of the target monitoring object can be obtained, and the accuracy of determining the action trajectory of the monitoring object is ensured.
For example, the trajectory route generating device 6 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The trajectory route generating device 6 may include, but is not limited to, a processor 62, a memory 61. Those skilled in the art will appreciate that the schematic diagram is merely an example of the trajectory route generation device 6, does not constitute a limitation of the trajectory route generation device 6, may include more or less components than those shown, or combine some components, or different components, e.g., the trajectory route generation device 6 may also include input and output devices, network access devices, buses, etc.
It should be noted that, since the processor 62 of the trajectory route generation device 6 executes the computer program 63 to implement the steps of the trajectory route generation method, all the embodiments of the trajectory route generation method are applicable to the trajectory route generation device 6, and the same or similar beneficial effects can be achieved.
In addition, the embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the trajectory route generation method described above.
That is, in the embodiment of the present invention, when the computer program of the computer readable storage medium is executed by the processor, the steps of the trajectory route generation method described above are implemented, a refined trajectory route of the target monitoring object can be obtained, and the accuracy of determining the action trajectory of the monitoring object is ensured.
Illustratively, the computer program of the computer-readable storage medium comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It should be noted that, since the computer program of the computer-readable storage medium is executed by the processor to implement the steps of the trajectory route generation method, all the embodiments of the trajectory route generation method are applicable to the computer-readable storage medium, and can achieve the same or similar beneficial effects.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A trajectory route generation method, comprising:
acquiring face image information of a target monitoring object;
determining target monitoring images matched with the face image information from a monitoring image library, and acquiring a target time point of each acquired target monitoring image and a target geographical position of target monitoring equipment acquiring each target monitoring image;
obtaining an actual geographic position of the target time point corresponding to the target monitoring object when the target monitoring image is acquired according to the image parameter in each target monitoring image and the target geographic position of the target monitoring equipment acquiring the target monitoring image;
and generating a track route of the target monitoring object according to the actual geographical positions corresponding to all the target time points.
2. The method of claim 1, wherein the step of generating a trajectory route of the target monitoring object according to the actual geographic locations corresponding to all the target time points comprises:
sequencing all the obtained actual geographic positions according to the sequence of all the target time points, and taking all the sequenced actual geographic positions as a position set;
determining a travel route between every two adjacent actual geographic locations in the location set;
and sequentially connecting all determined travelling routes according to the sequence of all actual geographic positions in the position set to obtain the track route of the target monitoring object.
3. The method of claim 2, wherein the step of determining the travel route between each two adjacent actual geographic locations in the set of locations comprises:
respectively aiming at any adjacent first actual geographic position and second actual geographic position in the position set, executing the following steps:
calling electronic map software containing geographic information, determining a first route value and a route deviation threshold value of a shortest effective route between the first actual geographic position and the second actual geographic position, and acquiring one or more first effective routes from the first actual geographic position to the second actual geographic position; wherein the second trip value of the first active route is less than the sum of the first trip value and the trip offset threshold;
determining a route of travel between the first actual geographic location and the second actual geographic location based on the number of first valid routes.
4. The method of claim 3, wherein the step of determining a route of travel between the first actual geographic location and the second actual geographic location based on the number of first valid routes comprises:
when the number of the first valid routes is one, the first valid route is taken as a travel route between the first actual geographic location and the second actual geographic location.
5. The method of claim 3, wherein the step of determining a route of travel between the first actual geographic location and the second actual geographic location based on the number of first valid routes comprises:
when the number of the first effective routes is multiple, determining a first circle which takes the first actual geographic position as a circle center and a first preset length value as a radius;
tracking the target monitoring object appearing in the target monitoring image corresponding to the target time point corresponding to the first actual geographic position to obtain a first linear trajectory equation of the target monitoring object;
respectively aiming at each first effective route, determining a first intersection point of the first effective route and the first circle, determining a first vector from the first actual geographic position to the first intersection point, and calculating a first included angle between the first linear trajectory equation and the first vector;
respectively carrying out normalization processing on each first included angle in all the first included angles obtained through calculation to obtain normalized first included angles;
taking a first intersection point corresponding to the first included angle with the smallest angle in all the first included angles after normalization processing as a first target intersection point;
calling the electronic map software to calculate one or more second effective routes between the first target intersection and the second actual geographic location;
determining a travel route between the first actual geographic location and the second actual geographic location based on the number of second valid routes.
6. The method of claim 5, wherein the step of determining a route of travel between the first actual geographic location and the second actual geographic location based on the number of second valid routes comprises:
when the number of the second effective routes is one, calling the electronic map software, and calculating a first shortest effective route from the first actual geographic position to the first target intersection point and a second shortest effective route from the first target intersection point to the second actual geographic position;
and sequentially connecting the first shortest effective route and the second shortest effective route according to the sequence from the first actual geographic position to the second actual geographic position through the first target intersection point to obtain a traveling route between the first actual geographic position and the second actual geographic position.
7. The method of claim 5, wherein the step of determining a route of travel between the first actual geographic location and the second actual geographic location based on the number of second valid routes comprises:
when the number of the second effective routes is multiple, determining a second circle which takes the second actual geographic position as the center of the circle and takes a second preset length value as the radius;
tracking the target monitoring object appearing in the target monitoring image corresponding to the target time point corresponding to the second actual geographic position to obtain a second linear trajectory equation of the target monitoring object;
respectively determining a second intersection point of each second effective route and the second circle, determining a second vector from the second intersection point to the second actual geographic position, and calculating a second included angle between the second linear trajectory equation and the second vector;
respectively carrying out normalization processing on each second included angle in all the second included angles obtained through calculation to obtain normalized second included angles;
taking a second intersection point corresponding to the second included angle with the largest angle in all the second included angles after normalization processing as a second target intersection point;
calling the electronic map software, and calculating a third shortest effective route from the first actual geographic position to the first target intersection point, a fourth shortest effective route from the first target intersection point to the second target intersection point, and a fifth shortest effective route from the second target intersection point to the second actual geographic position;
and sequentially connecting the third shortest effective route, the fourth shortest effective route and the fifth shortest effective route from the first actual geographic position to the second actual geographic position through the first target intersection point and the second target intersection point to obtain a traveling route between the first actual geographic position and the second actual geographic position.
8. The method of claim 1, wherein after the step of generating a trajectory route of the target monitoring object according to the actual geographic locations corresponding to all of the target time points, the method further comprises:
depicting a track route of the target monitoring object on an electronic map;
and displaying the electronic map drawn with the track route.
9. Trajectory route generation device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the trajectory route generation method according to any one of claims 1 to 8 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the trajectory route generation method according to any one of claims 1 to 8.
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